Laparoscope-holding robot system for laparoscopic surgery

ABSTRACT

Provided is a laparoscope-holding robot system for laparoscopic surgery, which belongs to the technical field of robot control and is used to solve the technical problem in the prior art of the operations of a laparoscope-holding robot for laparoscopic surgery being inflexible and same further requiring a doctor to assist in operations. The laparoscope-holding robot system for laparoscopic surgery of the present invention comprises a trolley rack, a surgical tool and a mechanical arm. Since the mechanical arm has at least six degrees of freedom, the mechanical arm can completely simulate the range of motion of a human arm and is no different from the human arm in terms of flexibility, so as to precisely locate the position of a lesion that actually needs to be operated without requiring a doctor to assist in operations.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a United States national stage entry under 35 U.S.C.§ 371 of international patent application number PCT/CN2018/097541,filed Jul. 27, 2018, which claims the priority benefit of Chinese patentapplication CN201810345131.1 filed on Apr. 17, 2018, titled“Laparoscope-holding Robot System for Laparoscopic Surgery”, and thepriority benefit of Chinese patent application CN201810343711.7 filed onApr. 17, 2018, titled “Laparoscope-holding Robot System for LaparoscopicSurgery”, each of which is incorporated by reference herein in theirrespective entireties.

TECHNICAL FIELD

The present disclosure relates to the technical field of robot control,in particular to a laparoscope-holding robot system for laparoscopicsurgery.

BACKGROUND

Minimally invasive surgery has many advantages, such as rapidpostoperative recovery and small trauma, on the basis of conventionalsurgeries, and is practiced and rapidly developed. As a representativeof minimally invasive surgery, the laparoscopic minimally invasivesurgery has become a significant revolution for conventional openoperations. With the extension of the minimally invasive surgical field,the minimally invasive surgical robot system provides a new approach forfurther perfecting the minimally invasive surgery against thelimitations of conventional laparoscopic technology in clinicalapplications.

A common laparoscope-holding robot for laparoscopic surgery has certainshortcomings in operation space and movement mode, and the endoscopeposition also needs to be adjusted by a doctor through manual operation,in particular, the accuracy of execution of complex actions is not highenough, and a relatively ideal degree of automation and intelligencecannot be achieved.

SUMMARY

The present disclosure provides a laparoscope-holding robot system forlaparoscopic surgery, for solving the technical problem in the prior artthat the laparoscope-holding robot for laparoscopic surgery isinflexible in operation and also requires a doctor to assist inoperation.

The present disclosure provides a laparoscope-holding robot system forlaparoscopic surgery, including a trolley rack, a surgical tool and amechanical arm provided on the trolley rack, wherein the surgical toolis fixed to a front end of the mechanical arm, wherein the mechanicalarm has at least six degrees of freedom.

In one embodiment, the mechanical arm includes a terminal joint and anintermediate joint respectively connected to a first connecting arm anda second connecting arm, and the terminal joint includes a first jointconnected to the trolley rack and a sixth joint connected to a mountingseat of the surgical tool.

In one embodiment, the intermediate joint includes a second jointrotationally connected to the first joint, a third joint connecting thefirst connecting arm and the second connecting arm, a fourth jointrotationally connected to the second connecting arm and a fifth jointrotationally connected to the fourth joint and the sixth joint,respectively.

In one embodiment, when the second connecting arm rotates with an axisof the third joint as a rotation axis, a maximum rotation angle is 360°.

In one embodiment, when the first connecting arm rotates with an axis ofthe second joint as a rotation axis, a maximum rotation angle is 180°.

In one embodiment, the trolley rack includes a base and a post fixedlyprovided on the base, and the mechanical arm is provided on the post.

In one embodiment, an adapter flange is provided on a side surface ofthe post, and the mechanical arm is fixedly connected to the adapterflange.

In one embodiment, a top end of the post is provided with a mechanicalinterface, and the mechanical arm is fixedly connected to the mechanicalinterface.

In one embodiment, a wire pipe is provided on the first joint at aposition connected to the trolley rack, and an axial direction of thewire pipe is perpendicular to an axial direction of the first joint anda height direction of the post, respectively.

In one embodiment, the bottom of the base is provided with twodirectional casters and two universal casters having a braking function,respectively.

The present disclosure further provides a laparoscope-holding robotsystem for laparoscopic surgery, including a trolley rack, a surgicaltool and a mechanical arm provided on the trolley rack, wherein a frontend of the mechanical arm is provided with an extension plate having aquick-release device, and the surgical tool is fixed on the extensionplate by the quick-release device, wherein the mechanical arm has atleast six degrees of freedom.

In one embodiment, the mechanical arm includes a terminal joint and anintermediate joint respectively connected to a first connecting arm anda second connecting arm, and the terminal joint includes a first jointconnected to the trolley rack and a sixth joint connected to a mountingseat of the surgical tool.

In one embodiment, the intermediate joint includes a second jointrotationally connected to the first joint, a third joint connecting thefirst connecting arm and the second connecting arm, a fourth jointrotationally connected to the second connecting arm and a fifth jointrotationally connected to the fourth joint and the sixth joint,respectively.

In one embodiment, a rotation axis of the first joint is parallel to aheight direction of the trolley rack, and perpendicular to the rotationaxis of the second joint.

In one embodiment, a rotation axis of the fourth joint, a rotation axisof the fifth joint and a rotation axis of the sixth joint areperpendicular to each other.

In one embodiment, the trolley rack includes a base and a post fixedlyprovided on the base, and the mechanical arm is provided on the post.

In one embodiment, an adapter flange is provided on a side surface ofthe post, and the mechanical arm is fixedly connected to the adapterflange.

In one embodiment, a top end of the post is provided with a mechanicalinterface, and the mechanical arm is fixedly connected to the mechanicalinterface.

In one embodiment, a wire pipe is provided on the first joint at aposition connected to the trolley rack, and an axial direction of thewire pipe is perpendicular to an axial direction of the first joint anda height direction of the post, respectively.

In one embodiment, the bottom of the base is provided with twodirectional casters and two universal casters having a braking function,respectively.

Compared with the prior art, the advantages of the present disclosurelie in that: as the mechanical arm has at least six degrees of freedom,the mechanical arm can completely simulate the movement range of thehuman arm, and has the same flexibility as the human arm, so as toaccurately position the lesion position which actually needs to beoperated without requiring a doctor to assist in operation.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure will be described in more detail below on thebasis of embodiments and with reference to the accompanying drawings.

FIG. 1 is a schematic view of operation of a laparoscope-holding robotsystem for laparoscopic surgery in one embodiment of the presentdisclosure;

FIG. 2 is a schematic perspective structural view of thelaparoscope-holding robot system for laparoscopic surgery in oneembodiment of the present disclosure (no surgical tool is shown in thedrawing);

FIG. 3 is a schematic structural view of a mechanical arm shown in FIG.2;

FIG. 4 is a schematic view of a mechanical limit position of themechanical arm shown in FIG. 1 (no surgical tool is shown in thedrawing);

FIG. 5 is a schematic perspective structural view of a base shown inFIG. 1;

FIG. 6 is a schematic view of operation of the laparoscope-holding robotsystem for laparoscopic surgery in another embodiment of the presentdisclosure;

FIG. 7 is a schematic perspective structural view of thelaparoscope-holding robot system for laparoscopic surgery in anotherembodiment of the present disclosure (no surgical tool is shown in thedrawing);

FIG. 8 is a schematic perspective structural view of the base shown inFIG. 6;

FIG. 9 is a schematic perspective structural view of an extension plateshown in FIG. 6; and

FIG. 10 is an explosive view of an extension plate shown in FIG. 6.

DETAILED DESCRIPTION

The present disclosure will be further described below in combinationwith the accompanying drawings.

As shown in FIG. 1, the present disclosure provides alaparoscope-holding robot system for laparoscopic surgery, including atrolley rack 1, a surgical tool 2 and a mechanical arm 3 provided on thetrolley rack 1. In the laparoscopic surgery, the surgical tool 2 is anendoscope, and of course, the surgical tool 2 also may be otherinstruments required in minimally invasive surgeries.

The surgical tool 2 is fixed at a front end of the mechanical arm 3,wherein the mechanical arm 3 has at least six degrees of freedom. Forexample, the mechanical arm 3 may have six degrees of freedom ofrotation and more than one degree of translational freedom.

According to a first aspect of the present disclosure, the six degreesof freedom of rotation of the mechanical arm 3 are realized in afollowing manner.

The mechanical arm 3 includes a terminal joint and an intermediate jointrespectively connected to a first connecting arm 37 and a secondconnecting arm 38, and the terminal joint includes a first joint 31connected to the trolley rack 1 and a sixth joint 36 connected to amounting seat 21 of the surgical tool 2.

Further, the intermediate joint includes a second joint 32 rotationallyconnected to the first joint 31, a third joint 33 connecting the firstconnecting arm 37 and the second connecting arm 38, a fourth joint 34rotationally connected to the second connecting arm 38 and a fifth joint35 rotationally connected to the fourth joint 34 and the sixth joint 36,respectively. That is, two ends of the first connecting arm 37 arerespectively connected to the second joint 32 and the third joint 33,and relative movement between the first connecting arm 37 and the secondconnecting arm 38 is realized by means of the third joint 33.

As shown in FIG. 2 (or FIG. 7), a rotation axis L1 of the first joint 31is parallel to a height direction of the trolley rack 1, andperpendicular to a rotation axis L2 of the second joint 2. A rotationaxis L4 of the fourth joint 34, a rotation axis L5 of the fifth joint 35and a rotation axis L6 of the sixth joint 36 are perpendicular to eachother. Through the rotation of the six joints above, the six degrees offreedom of rotation of the mechanical arm 3 can be realized, so that theaction of the mechanical arm 3 can completely simulate the movement ofthe human arm, so as to accurately position the lesion position whichactually needs to be operated without requiring a doctor to assist inoperation, so that the doctor's sight overlaps the lesion position thatneeds to be operated, avoiding increased operation risk caused byinconsistency of hands and eyes of the doctor.

Besides, each of the six joints above may be provided with a jointsensor, so as to measure an angle of rotation of each joint, therebyobtaining current posture information of the endoscope; moreover, all ofthe six joints above may be driven by a motor.

Further, each of the above joints is an execution unit of action, andthe respective execution units are connected in series, so that therespective joints have relatively good isotropy therebetween, withoutaccumulated error, thus the whole machine of robot is enabled to haverelatively high precision, and has the technical features such as gooddynamic response.

When the second connecting arm 38 rotates with an axis of the thirdjoint 33 as a rotation axis, a maximum rotation angle is 360°. As shownin FIG. 4, it shows one mechanical limit position of the secondconnecting arm 38.

When the first connecting arm 37 rotates with an axis of the secondjoint 32 as a rotation axis, a maximum rotation angle is 180°.

In one embodiment of the present disclosure, the number of the abovemechanical arms 3 may be two or more, the plurality of mechanical arms 3may be fixed on different side portions of the trolley rack 1, andterminals of the mechanical arms 3 may be mounted with differentsurgical tools 2, so as to satisfy requirements of complex surgeries.

As shown in FIG. 5 (or FIG. 8), the trolley rack 1 includes a base 11and a post 12 fixedly provided on the base 11, and the mechanical arm 3is provided on the post 12. The base 11 and the post 12 are bothprovided inside the housing 13, and the housing 13 not only integratecontrol components and mechanical components, but also can give a goodappearance.

In the above, the base 11 is provided with a connecting plate 113, andthe connecting plate 113 has one end fixedly connected to a bottomsurface of the base 11, and the other end fixedly connected to thehousing 13. Specifically, the connecting plate 113 is configured in an Lshape, and a cable outlet is provided on the connecting plate 113 at aposition connected to the housing. Besides, in order to enhance thestrength of the connecting plate 113, reinforcing ribs are provided onthe connecting plate 113.

In one embodiment of the present disclosure, the mechanical arm 3 isprovided on a side surface of the post 12.

Optionally, an adapter flange 6 is provided on a side surface of thepost 12, and the mechanical arm 3 is fixedly connected to the adapterflange 6. In the above, the adapter flange 6 is configured in an Lshape, and has one end fixedly connected to a side surface of the post12, and the other end fixedly connected to a bottom end of the firstjoint 31.

According to a second aspect of the present disclosure, one degree oftranslational freedom of the mechanical arm 3 is realized in a followingmanner.

The post 12 is provided with a sliding sleeve, and the mechanical arm 3is fixedly connected to the sliding sleeve. The sliding sleeve can slideon the post 12, so as to realize one degree of translational freedom ofthe mechanical arm 3.

In one embodiment of the present disclosure, the mechanical arm 3 isprovided on a top end of the post 12. In the above, the top end of thepost 12 is provided with a mechanical interface, and the mechanical arm3 is fixedly connected to the mechanical interface.

When the mechanical arm 3 is provided on the side surface of the post12, and an upper end of the housing 13 is provided with an indicatorlight and/or a control button, so as to facilitate control over themechanical arm 3.

Besides, the housing 13 further may be provided with a support plate,which may be used as a support platform, on the other side opposite tothe mechanical arm 3.

As shown in FIG. 3, the first joint 31 is provided with a wire pipe 5 ata position connected to the trolley rack 1, and an axial direction ofthe wire pipe 5 is perpendicular to an axial direction of the firstjoint 31 and a height direction of the post 12, respectively. Similarly,the six joint 36 is provided with a wire pipe at a position connected tothe mounting base 21, so as to protect the wire led out from the joint.

The bottom of the base 11 is provided with two directional casters 111and two universal casters 112 having a braking function, respectively.Each universal caster 112 may be provided with a brake device such asbrake block, so as to realize the function of designated parking.

Besides, in order to facilitate operation, the directional casters 111are provided at a front side of the post 12, and the universal casters112 are provided at a rear side of the post 12.

In addition, it should be noted that an RCM point of thelaparoscope-holding robot system for laparoscopic surgery in the presentdisclosure is ensured by the algorithm of control components.

In one embodiment of the present disclosure, the surgical tool 2 (i.e.,endoscope) is connected to the sixth joint 36 through the mounting base21. In the above, the mounting base 21 is provided with a baseboard, thebaseboard is provided with a quick-release device, and quickdisassembling and mounting between the surgical tool and the mechanicalarm 3 can be realized by the quick-release device.

On the basis of the above embodiment, in another embodiment of thepresent disclosure, as shown in FIG. 6, the present disclosure providesa laparoscope-holding robot system for laparoscopic surgery, including atrolley rack 1, a surgical tool 2 and a mechanical arm 3 provided on thetrolley rack 1. A front end of the mechanical arm 3 is provided with anextension plate 4 having the quick-release device, and the surgical tool2 is fixed on the extension plate 4 by the quick-release device. Aspecific fixing manner will be described in detail below.

As shown in FIG. 10, a bottom end of the extension plate 4 is providedwith a mounting portion 47, the mounting portion 47 is provided on themounting base 21, the extension plate 4 has the quick-release device,and quick disassembling and mounting between the surgical tool and themechanical arm 3 can be realized by the quick-release device.

Specifically, as shown in FIG. 9 and FIG. 10, the extension plate isprovided with an upper connecting block 41 and a lower connecting block42, the upper connecting block 41 and the lower connecting block 42 arehinged, the upper connecting block 41 and the lower connecting block 42are each provided with a semicircular groove, and when the upperconnecting block 41 and the lower connecting block 42 are put together,the two semicircular grooves form a mounting hole, the front end of theendoscope extends into the mounting hole, and a rear end of theendoscope is in contact with the extension plate 4, so that twosupporting points are formed on the extension plate 4, so as to stablysupport the endoscope.

When the endoscope is provided in the mounting hole, the upperconnecting block 41 and the lower connecting block 42 are locked by afirst quick-release device, i.e. a locking pin shaft 43, so as to fixthe endoscope in the mounting hole. Specifically, the locking pin shaft43 can rotate in the upper connecting block 41 and the lower connectingblock 42, and be engaged with a boss on the bottom of the lowerconnecting block 42, to lock the upper connecting block 41 and the lowerconnecting block 42.

Besides, the lower connecting block 42 is provided with an adapter block44 at its bottom, and the adapter block 44 and the extension plate 4 arefixed by a second quick-release device, i.e. an elastic fixture block.Specifically, the elastic fixture block is provided inside the extensionplate 4, the extension plate 4 is provided with a cover plate 46 at thebottom, and the elastic fixture block and the extension plate 4 cangenerate relative movement through a compression spring. An end of theelastic fixture block is inserted into the adapter block 44, and issnap-fitted with the adapter block 44, so that the adapter block 44 isfixed on the extension plate 4. When disassembling is needed, the lockbutton 45 is pressed down, then the elastic fixture block moves towardsa direction away from the adapter block 44, so that no snap-fitrelationship is generated any more between the elastic fixture block andthe adapter block 44, then the adapter block 44 can be taken away fromthe extension plate 4, thus achieving the purpose of quickdisassembling.

Although the present disclosure has been described with reference topreferred embodiments, various improvements can be made thereto andcomponents therein may be replaced by equivalents, without departingfrom the scope of the present disclosure. In particular, varioustechnical features mentioned in various embodiments may be combined inany manner as long as there is no structural conflict. The presentdisclosure is not restricted to specific embodiments disclosed herein,but covers all technical solutions falling within the scope of theclaims.

What is claimed is:
 1. A laparoscope-holding robot system forlaparoscopic surgery, comprising: a trolley rack, wherein the trolleyrack comprises a base, a stationary post immovably fixed to the base,and a sliding sleeve on the post; and a mechanical arm on the trolleyrack, wherein the mechanical arm is connected at one end thereof to thesliding sleeve, wherein the mechanical arm has at least six degrees ofrotational freedom and at least one degree of translational freedom, andwherein one degree of translational freedom is provided to themechanical arm by the sliding sleeve sliding on the post, wherein themechanical arm comprises a terminal joint and an intermediate jointrespectively connected to a first connecting arm and a second connectingarm, and the terminal joint comprises a first joint connected to thetrolley rack and a sixth joint connected to a mounting seat of asurgical tool, wherein the intermediate joint comprises a second jointrotationally connected to the first joint, a third joint connecting thefirst connecting arm and the second connecting arm, a fourth jointrotationally connected to the second connecting arm and a fifth jointrespectively rotationally connected to the fourth joint and the sixthjoint, wherein a top end of the post is provided with a mechanicalinterface, and the mechanical arm is fixedly connected to the mechanicalinterface.
 2. The laparoscope-holding robot system for laparoscopicsurgery according to claim 1, wherein when the second connecting arm isrotated with an axis of the third joint as a rotation axis, a maximumrotation angle is 360°.
 3. The laparoscope-holding robot system forlaparoscopic surgery according to claim 1, wherein when the firstconnecting arm is rotated with an axis of the second joint as a rotationaxis, a maximum rotation angle is 180°.
 4. The laparoscope-holding robotsystem for laparoscopic surgery according to claim 2, wherein when thefirst connecting arm is rotated with an axis of the second joint as arotation axis, a maximum rotation angle is 180°.
 5. Thelaparoscope-holding robot system for laparoscopic surgery according toclaim 1, wherein the first joint is provided with a wire pipe at aposition connected to the trolley rack, and an axial direction of thewire pipe is perpendicular to an axial direction of the first joint anda height direction of the post, respectively.
 6. The laparoscope-holdingrobot system for laparoscopic surgery according to claim 1, wherein abottom of the base is provided with two directional casters and twouniversal casters having a braking function, respectively.
 7. Alaparoscope-holding robot system for laparoscopic surgery, comprising: atrolley rack, wherein the trolley rack comprises a base and a singlestationary post immovably fixed to the base; and a mechanical arm on thepost, wherein the mechanical arm includes an extension plate having aquick-release device configured to receive a surgical tool, wherein themechanical arm has at least six degrees of freedom comprising rotationalfreedom, translational freedom, or a combination thereof, wherein themechanical arm comprises a first joint having a rotational axis and asecond joint having a rotational axis; wherein the rotational axis ofthe first joint is offset from and parallel to a height direction of thepost, wherein the rotational axis of the first joint is perpendicular tothe rotational axis of the second joint, and wherein a top end of thepost is provided with a mechanical interface, and the mechanical arm isfixedly connected to the mechanical interface.
 8. Thelaparoscope-holding robot system for laparoscopic surgery according toclaim 7, wherein the mechanical arm comprises a terminal joint and anintermediate joint respectively connected to a first connecting arm anda second connecting arm, and the terminal joint comprises the firstjoint connected to the trolley rack and a sixth joint connected to amounting seat of the surgical tool.
 9. The laparoscope-holding robotsystem for laparoscopic surgery according to claim 8, wherein theintermediate joint comprises a second joint rotationally connected tothe first joint, a third joint connecting the first connecting arm andthe second connecting arm, a fourth joint rotationally connected to thesecond connecting arm and a fifth joint respectively rotationallyconnected to the fourth joint and the sixth joint.
 10. Thelaparoscope-holding robot system for laparoscopic surgery according toclaim 9, wherein a rotation axis of the fourth joint, a rotation axis ofthe fifth joint and a rotation axis of the sixth joint are perpendicularto each other.
 11. The laparoscope-holding robot system for laparoscopicsurgery according to claim 7, wherein a rotation axis of the fourthjoint, a rotation axis of the fifth joint and a rotation axis of thesixth joint are perpendicular to each other.
 12. The laparoscope-holdingrobot system for laparoscopic surgery according to claim 7, wherein thefirst joint is provided with a wire pipe at a position connected to thetrolley rack, and an axial direction of the wire pipe is perpendicularto an axial direction of the first joint and a height direction of thepost, respectively.
 13. The laparoscope-holding robot system forlaparoscopic surgery according to claim 7, wherein a bottom of the baseis provided with two directional casters and two universal castershaving a braking function, respectively.
 14. The laparoscope-holdingrobot system for laparoscopic surgery according to claim 8, furthercomprising: a mounting base coupled to the sixth joint, the mountingbase having a top surface, wherein the extension plate has a bottomsurface, the bottom surface having a mounting portion coupled to the topsurface of the mounting base.
 15. The laparoscope-holding robot systemfor laparoscopic surgery according to claim 1, wherein the first jointis connected to the sliding sleeve.
 16. The laparoscope-holding robotsystem for laparoscopic surgery according to claim 15, wherein the firstjoint is connected to the sliding sleeve by an adapter flange.
 17. Alaparoscope-holding robot system for laparoscopic surgery, comprising: atrolley rack, wherein the trolley rack comprises a base and a singlestationary post immovably fixed to the base; a mechanical arm on thepost, wherein the mechanical arm includes an extension plate having aquick-release device configured to receive a surgical tool, wherein themechanical arm has at least six degrees of freedom comprising rotationalfreedom, translational freedom, or a combination thereof, wherein themechanical arm comprises a first joint having a rotational axis and asecond joint having a rotational axis; wherein the rotational axis ofthe first joint is offset from and parallel to a height direction of thepost, wherein the rotational axis of the first joint is perpendicular tothe rotational axis of the second joint, and wherein the mechanical armcomprises a terminal joint and an intermediate joint respectivelyconnected to a first connecting arm and a second connecting arm, and theterminal joint comprises the first joint connected to the trolley rackand a sixth joint connected to a mounting seat of the surgical tool; anda mounting base coupled to the sixth joint, the mounting base having atop surface, wherein the extension plate has a bottom surface, thebottom surface having a mounting portion coupled to the top surface ofthe mounting base.
 18. The laparoscope-holding robot system forlaparoscopic surgery according to claim 17, wherein the intermediatejoint comprises a second joint rotationally connected to the firstjoint, a third joint connecting the first connecting arm and the secondconnecting arm, a fourth joint rotationally connected to the secondconnecting arm and a fifth joint respectively rotationally connected tothe fourth joint and the sixth joint.
 19. The laparoscope-holding robotsystem for laparoscopic surgery according to claim 18, wherein arotation axis of the fourth joint, a rotation axis of the fifth jointand a rotation axis of the sixth joint are perpendicular to each other.20. The laparoscope-holding robot system for laparoscopic surgeryaccording to claim 17, wherein a rotation axis of the fourth joint, arotation axis of the fifth joint and a rotation axis of the sixth jointare perpendicular to each other.
 21. The laparoscope-holding robotsystem for laparoscopic surgery according to claim 17, wherein the firstjoint is provided with a wire pipe at a position connected to thetrolley rack, and an axial direction of the wire pipe is perpendicularto an axial direction of the first joint and a height direction of thepost, respectively.
 22. The laparoscope-holding robot system forlaparoscopic surgery according to claim 17, wherein a bottom of the baseis provided with two directional casters and two universal castershaving a braking function, respectively.